3DTK: add new package (#20931)

* 3DTK: add new package

* Add missing opencv variants

Co-authored-by: Michael Kuhn <michael@ikkoku.de>

* Fix cmake version req, add eigen dep

* Prefer trunk version

* Tell 3dtk where to find eigen

* Fix installation

* Fix installation

Co-authored-by: Michael Kuhn <michael@ikkoku.de>

var/spack/repos/builtin/packages/3dtk/homebrew.patch

@@ -0,0 +1,18 @@
+--- a/src/show/CMakeLists.txt	2021-01-14 16:08:27.000000000 -0600
++++ b/src/show/CMakeLists.txt	2021-01-14 20:42:24.000000000 -0600
+@@ -9,13 +9,8 @@
+   find_package(OpenGL REQUIRED)
+   find_package(GLUT REQUIRED)
+   add_definitions(-DWITH_OPENGL)
+-  if(APPLE)
+-    include_directories(/usr/local/Cellar/glui/2.37/)
+-    set(SHOW_LIBS ${SHOW_LIBS} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} /usr/local/Cellar/glui/2.37/lib/libglui.a CACHE INTERNAL "")
+-  else()
+-    include_directories(${PROJECT_SOURCE_DIR}/3rdparty/glui-2.36/include/)
+-    set(SHOW_LIBS ${SHOW_LIBS} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} glui CACHE INTERNAL "")
+-  endif()
++  include_directories(${PROJECT_SOURCE_DIR}/3rdparty/glui-2.36/include/)
++  set(SHOW_LIBS ${SHOW_LIBS} ${GLUT_LIBRARIES} ${OPENGL_LIBRARIES} glui CACHE INTERNAL "")
+   if(WITH_GLEE)
+     message(STATUS "Using opengl extensions")
+     set(SHOW_LIBS ${SHOW_LIBS} glee CACHE INTERNAL "")

var/spack/repos/builtin/packages/3dtk/package.py

@@ -0,0 +1,92 @@
+# Copyright 2013-2021 Lawrence Livermore National Security, LLC and other
+# Spack Project Developers. See the top-level COPYRIGHT file for details.
+#
+# SPDX-License-Identifier: (Apache-2.0 OR MIT)
+
+from spack import *
+
+
+class _3dtk(CMakePackage):
+    """The 3D Toolkit provides algorithms and methods to process 3D point
+    clouds.
+
+    It includes automatic high-accurate registration (6D simultaneous
+    localization and mapping, 6D SLAM) and other tools, e.g., a fast 3D viewer,
+    plane extraction software, etc. Several file formats for the point clouds
+    are natively supported, new formats can be implemented easily."""
+
+    homepage = "http://slam6d.sourceforge.net/"
+    # Repo seems to be in the process of switching to git:
+    # https://github.com/3DTK/3DTK
+
+    version('trunk', svn='https://svn.code.sf.net/p/slam6d/code/trunk', preferred=True)
+    version('1.2', svn='https://svn.code.sf.net/p/slam6d/code/branches/3dtk-release-1.2')
+
+    variant('cgal', default=False, description='Compile with CGAL support')
+    variant('opengl', default=True, description='Compile with OpenGL support')
+    variant('opencv', default=True, description='Compile with OpenCV support')
+    variant('compact_octree', default=False, description='Whether to use the compact octree display')
+    variant('cuda', default=False, description='Whether to build CUDA accelerated collision detection tools')
+    variant('openmp', default=False, description='Whether to use parallel processing capabilities of OPENMP')
+
+    conflicts('~opencv', when='platform=darwin')
+    conflicts('+compact_octree', when='~opengl')
+
+    generator = 'Ninja'
+
+    depends_on('cmake@3.5:', when='@trunk', type='build')
+    depends_on('cmake@2.6.1:2.999', when='@1.2', type='build')
+    depends_on('ninja', type='build')
+    depends_on('boost+serialization+graph+regex+filesystem+system+thread+date_time+program_options')
+    depends_on('suite-sparse')
+    depends_on('zlib')
+    depends_on('libpng')
+    depends_on('eigen')
+    depends_on('cgal', when='+cgal')
+    depends_on('gl', when='+opengl')
+    depends_on('glew', when='+opengl')
+    depends_on('freeglut', when='+opengl')
+    depends_on('opencv+calib3d+contrib+core+features2d+highgui+imgcodecs+imgproc+ml+videoio', when='+opencv')
+    # Because concretizer is broken
+    depends_on('opencv+flann', when='+opencv')
+    depends_on('cuda', when='+cuda')
+
+    # TODO: add Spack packages for these instead of using vendored copies
+    # depends_on('ann')
+    # depends_on('newmat')
+
+    patch('homebrew.patch', when='platform=darwin')
+
+    def setup_build_environment(self, env):
+        env.prepend_path('CPATH', self.spec['eigen'].prefix.include)
+
+    def cmake_args(self):
+        return [
+            self.define_from_variant('WITH_CGAL', 'cgal'),
+            self.define('WITH_GMP', False),
+            self.define('WITH_LIBZIP', False),
+            self.define_from_variant('WITH_OPENGL', 'opengl'),
+            self.define_from_variant('WITH_OPENCV', 'opencv'),
+            self.define('WITH_QT', False),
+            self.define('WITH_GLFW', False),
+            self.define('WITH_FTGL', False),
+            self.define('WITH_XMLRPC', False),
+            self.define('WITH_LIBCONFIG', False),
+            self.define('WITH_ROS', False),
+            self.define('WITH_PYTHON', False),
+            self.define('WITH_WXWIDGETS', False),
+            self.define_from_variant('WITH_COMPACT_OCTREE', 'compact_octree'),
+            self.define('WITH_GLEE', False),
+            self.define('WITH_LASLIB', False),
+            self.define('WITH_E57', False),
+            self.define('WITH_3DMOUSE', False),
+            self.define_from_variant('WITH_CUDA', 'cuda'),
+            self.define('WITH_RIVLIB', False),
+            self.define('WITH_MICROEPSILONLIB', False),
+            self.define_from_variant('WITH_OPENMP', 'openmp'),
+            self.define('WITH_METRICS', False),
+            self.define('WITH_ADDONS', False),
+        ]
+
+    def install(self, spec, prefix):
+        install_tree('bin', prefix.bin)